Adds a prim path expression check for camera and ray-cast sensors (is…

…aac-sim#314)

# Description

Currently, the ray-cast and camera sensors don't support having regex
expression in the leaves. While we must address this (isaac-sim#313), we add this
to our future plans.

For now, this MR adds a check to make sure users are aware and don't do
a wrong operation.

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.10.6"
+version = "0.10.7"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.10.7 (2023-12-19)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added a check to ray-cast and camera sensor classes to ensure that the sensor prim path does not
+  have a regex expression at its leaf. For instance, ``/World/Robot/camera_.*`` is not supported
+  for these sensor types. This behavior needs to be fixed in the future.
+
+
 0.10.6 (2023-12-19)
 ~~~~~~~~~~~~~~~~~~~
 
@@ -578,6 +589,7 @@ Added
 
 
 0.9.18 (2023-10-23)
+~~~~~~~~~~~~~~~~~~~
 
 Added
 ^^^^^

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/camera/camera.py

@@ -7,6 +7,7 @@
 
 import math
 import numpy as np
+import re
 import torch
 from tensordict import TensorDict
 from typing import TYPE_CHECKING, Any, Sequence
@@ -76,6 +77,16 @@ def __init__(self, cfg: CameraCfg):
             RuntimeError: If no camera prim is found at the given path.
             ValueError: If the provided data types are not supported by the camera.
         """
+        # check if sensor path is valid
+        # note: currently we do not handle environment indices if there is a regex pattern in the leaf
+        #   For example, if the prim path is "/World/Sensor_[1,2]".
+        sensor_path = cfg.prim_path.split("/")[-1]
+        sensor_path_is_regex = re.match(r"^[a-zA-Z0-9/_]+$", sensor_path) is None
+        if sensor_path_is_regex:
+            raise RuntimeError(
+                f"Invalid prim path for the camera sensor: {self.cfg.prim_path}."
+                "\n\tHint: Please ensure that the prim path does not contain any regex patterns in the leaf."
+            )
         # perform check on supported data types
         self._check_supported_data_types(cfg)
         # initialize base class

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sensors/ray_caster/ray_caster.py

@@ -6,6 +6,7 @@
 from __future__ import annotations
 
 import numpy as np
+import re
 import torch
 from typing import TYPE_CHECKING, ClassVar, Sequence
 
@@ -61,6 +62,16 @@ def __init__(self, cfg: RayCasterCfg):
         Args:
             cfg: The configuration parameters.
         """
+        # check if sensor path is valid
+        # note: currently we do not handle environment indices if there is a regex pattern in the leaf
+        #   For example, if the prim path is "/World/Sensor_[1,2]".
+        sensor_path = cfg.prim_path.split("/")[-1]
+        sensor_path_is_regex = re.match(r"^[a-zA-Z0-9/_]+$", sensor_path) is None
+        if sensor_path_is_regex:
+            raise RuntimeError(
+                f"Invalid prim path for the ray-caster sensor: {self.cfg.prim_path}."
+                "\n\tHint: Please ensure that the prim path does not contain any regex patterns in the leaf."
+            )
         # Initialize base class
         super().__init__(cfg)
         # Create empty variables for storing output data

source/extensions/omni.isaac.orbit/omni/isaac/orbit/utils/warp/ops.py

@@ -42,16 +42,13 @@ def raycast_mesh(
         The ray hit position. Shape (N, 3).
             The returned tensor contains :obj:`float('inf')` for missed hits.
         The ray hit distance. Shape (N,).
-            Will only return if `return_distance` is True, else returns None.
-            Always at second position of the output tuple.
+            Will only return if :attr:`return_distance` is True, else returns None.
             The returned tensor contains :obj:`float('inf')` for missed hits.
         The ray hit normal. Shape (N, 3).
-            Will only return if `return_normal` is True else returns None.
-            Always at third position of the output tuple.
+            Will only return if :attr:`return_normal` is True else returns None.
             The returned tensor contains :obj:`float('inf')` for missed hits.
         The ray hit face id. Shape (N,).
-            Will only return if `return_face_id` is True else returns None.
-            Always at fourth position of the output tuple.
+            Will only return if :attr:`return_face_id` is True else returns None.
             The returned tensor contains :obj:`int(-1)` for missed hits.
     """
     # extract device and shape information